/** * This file is part of ArmarX. * * ArmarX is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License version 2 as * published by the Free Software Foundation. * * ArmarX is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see <http://www.gnu.org/licenses/>. * * @package RobotCOMPONENTS::DMPComponent * @author You * @date 2015 Humanoids Group, H2T, KIT * @license http://www.gnu.org/licenses/gpl-2.0.txt * GNU General Public License */ #ifndef _ROBOTCOMPONENTS_COMPONENT_DMPComponent_SLICE_ #define _ROBOTCOMPONENTS_COMPONENT_DMPComponent_SLICE_ #include <ArmarXCore/interface/core/UserException.ice> #include <ArmarXCore/interface/core/BasicTypes.ice> //#include <MemoryX/interface/memorytypes/MemoryEntities.ice> module armarx { struct cState{ double pos; double vel; double acc; }; sequence<double> DVector; sequence<cState> cStateVec; ["cpp:virtual"] class DMPComponentBase { bool is3rdOrder = false; void using3rdOrderDMP(); void usingBasicDMP(); void setDMPState(cStateVec state) throws InvalidArgumentException; void setParameter(int paraId, double value) throws InvalidArgumentException; void setGoal(DVector value) throws InvalidArgumentException; void setStartPosition(DVector value) throws InvalidArgumentException; void setTimeStamps(DVector value) throws InvalidArgumentException; void setCanonicalValues(DVector value) throws InvalidArgumentException; void getDMPFromDatabase(string filename) throws InvalidArgumentException; cStateVec getNextState() throws InvalidArgumentException; void instantiateDMP(int dmptype) throws InvalidArgumentException; void trainDMP() throws InvalidArgumentException; void storeDMPInDatabase(string cname) throws InvalidArgumentException; void readTrajectoryFromFile(string file); void setDimensionsToLearn(DVector dimensions); void removeDMPFromDatabase(string dmpname); }; }; #endif